camera_mpeg.cc

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#include "camera_mpeg.h"
#include "../../lib/camera.h"
#include <iomanip>
#include <istream>
#include <ostream>

namespace tlz {

bool read_camera_mpeg(std::istream& input, camera& cam, bool convert) {
    input >> cam.name;
    if(input.eof() || input.fail()) return false;
    
    if(cam.name == "0") { // extra last row (0 0 0 1) of previous extrinsic
        int unused;
        input >> unused >> unused >> unused;
        return read_camera_mpeg(input, cam, convert);
    }

    input >> cam.intrinsic(0, 0) >> cam.intrinsic(0, 1) >> cam.intrinsic(0, 2);
    input >> cam.intrinsic(1, 0) >> cam.intrinsic(1, 1) >> cam.intrinsic(1, 2);
    input >> cam.intrinsic(2, 0) >> cam.intrinsic(2, 1) >> cam.intrinsic(2, 2);
        
    real unused[2]; // unused, always 0
    input >> unused[0] >> unused[1];

    input >> cam.rotation(0, 0) >> cam.rotation(0, 1) >> cam.rotation(0, 2) >> cam.translation[0];
    input >> cam.rotation(1, 0) >> cam.rotation(1, 1) >> cam.rotation(1, 2) >> cam.translation[1];
    input >> cam.rotation(2, 0) >> cam.rotation(2, 1) >> cam.rotation(2, 2) >> cam.translation[2];
        
    if(convert) cam.translation = -(cam.rotation * cam.translation);
        
    return true;
}

void write_camera_mpeg(std::ostream& output, const camera& orig_cam, bool convert) {
    camera cam = orig_cam;
    if(convert) cam.translation = -(cam.rotation.t() * cam.translation);

    output << std::setprecision(20);
    output << cam.name << "\n";
    output << cam.intrinsic(0, 0) << ' ' << cam.intrinsic(0, 1) << ' ' << cam.intrinsic(0, 2) << '\n';
    output << cam.intrinsic(1, 0) << ' ' << cam.intrinsic(1, 1) << ' ' << cam.intrinsic(1, 2) << '\n';
    output << cam.intrinsic(2, 0) << ' ' << cam.intrinsic(2, 1) << ' ' << cam.intrinsic(2, 2) << '\n';
    output << "0\n0\n";
    output << cam.rotation(0, 0) << ' ' << cam.rotation(0, 1) << ' ' << cam.rotation(0, 2) << ' ' << cam.translation[0] << '\n';
    output << cam.rotation(1, 0) << ' ' << cam.rotation(1, 1) << ' ' << cam.rotation(1, 2) << ' ' << cam.translation[1] << '\n';
    output << cam.rotation(2, 0) << ' ' << cam.rotation(2, 1) << ' ' << cam.rotation(2, 2) << ' ' << cam.translation[2] << '\n';
    output << '\n';
}

}